/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "ppm.h"
#define ch1 TIM_CHANNEL_1
#define ch2 TIM_CHANNEL_2
#define ch3 TIM_CHANNEL_3
#define ch4 TIM_CHANNEL_4
#define x1  HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_15)
#define x2  HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_3)
#define x3  HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_4)
#define x4  HAL_GPIO_ReadPin(GPIOB,GPIO_PIN_5)
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
	extern uint16_t PPM_Databuf[8];
	int x = 0;
	int y = 0;
	int z = 0;
	int xx = 0;
	int yy = 0;
	int zz = 0;
void wheelinit(void)
{
	HAL_GPIO_WritePin(GPIOA,GPIO_PIN_4,GPIO_PIN_SET);
	HAL_GPIO_WritePin(GPIOA,GPIO_PIN_5,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6,GPIO_PIN_SET);
	HAL_GPIO_WritePin(GPIOA,GPIO_PIN_7,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_SET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_SET);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_11,GPIO_PIN_RESET);
	HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_2);
	HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_3);
	HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4);
}
void FL(int x, int y, int z ,int vm)
{
	int v;
	if (PPM_Databuf[4] > 1500)
	{
		v = x + y + z;
	}
	else if (PPM_Databuf[4] < 1500)
	{
		v = xx + yy + zz;
	}
	if (v > 0)
	{
		if (v > vm)
			v = vm;
		HAL_GPIO_WritePin(GPIOA,GPIO_PIN_4,GPIO_PIN_SET);
	  HAL_GPIO_WritePin(GPIOA,GPIO_PIN_5,GPIO_PIN_RESET);
	}
	else
	{
		if (v < -vm)
		  v = vm; 
		else 
			v = -v;
		HAL_GPIO_WritePin(GPIOA,GPIO_PIN_4,GPIO_PIN_RESET);
	  HAL_GPIO_WritePin(GPIOA,GPIO_PIN_5,GPIO_PIN_SET);
	}
	__HAL_TIM_SetCompare(&htim4, ch1, v);
}
void BL(int x, int y, int z ,int vm)
{
	int v;
	if (PPM_Databuf[4] > 1500)
	{
		v = -x + y - z;
	}
	else if (PPM_Databuf[4] < 1500)
	{
		v = -xx + yy - zz;
	}
	if (v > 0)
	{
		if (v > vm)
			v = vm;
		HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6,GPIO_PIN_SET);
	  HAL_GPIO_WritePin(GPIOA,GPIO_PIN_7,GPIO_PIN_RESET);
	}
	else
	{
		if (v < -vm)
		  v = vm; 
		else 
			v = -v;
		HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6,GPIO_PIN_RESET);
	  HAL_GPIO_WritePin(GPIOA,GPIO_PIN_7,GPIO_PIN_SET);
	}
	__HAL_TIM_SetCompare(&htim4, ch2, v);
}


void FR(int x, int y, int z ,int vm)
{
	int v;
	if (PPM_Databuf[4] > 1500)
	{
		v = -x + y + z;
	}
	else if (PPM_Databuf[4] < 1500)
	{
		v = -xx + yy + zz;
	}
	if (v > 0)
	{
		if (v > vm)
			v = vm;
		HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_SET);
	  HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
	}
	else
	{
		if (v < -vm)
		  v = vm; 
		else 
			v = -v;
		HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
	  HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,GPIO_PIN_SET);
	}
	__HAL_TIM_SetCompare(&htim4, ch3, v);
}


void BR(int x, int y, int z ,int vm)
{
	int v;
	if (PPM_Databuf[4] > 1500)
	{
		v = x + y - z;
	}
	else if (PPM_Databuf[4] < 1500)
	{
		v = xx + yy - zz;
	}
	if (v > 0)
	{
		if (v > vm)
			v = vm;
		HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_SET);
	  HAL_GPIO_WritePin(GPIOB,GPIO_PIN_11,GPIO_PIN_RESET);
	}
	else
	{
		if (v < -vm)
		  v = vm; 
		else 
			v = -v;
		HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET);
	  HAL_GPIO_WritePin(GPIOB,GPIO_PIN_11,GPIO_PIN_SET);
	}
	__HAL_TIM_SetCompare(&htim4, ch4, v);
}
void move(int vm)
{
	FL (x,y,z,vm);
	FR (x,y,z,vm);
	BL (x,y,z,vm);
	BR (x,y,z,vm);
}
void line(void)
{
			//int dir = 0;
			if(x3 == GPIO_PIN_RESET && x1 == RESET && x2 == SET  && x4 == SET)
			{
				x = 0;
				y = 2000;
				z = 0;
				//dir = 0;
			}
			else if (x3 == GPIO_PIN_SET && x1 == RESET && x2 == SET  && x4 == SET)
			{
				x = 0;
				y = 1350;
				z = -1050;
				//dir = 0;
			}
			else if (x3 == GPIO_PIN_RESET && x1 == SET && x2 == SET  && x4 == SET)
			{
				x = 0;
				y = 1350;
				z = 1050;
				//dir = 0;
			}
			else if (x3 == GPIO_PIN_SET && x1 == SET && x2 == RESET)
			{
				x = -400;
				y = 1350;
				z = -2000;
				//dir = 1;
			}
			else if (x3 == GPIO_PIN_SET && x1 == SET && x4 == RESET)
			{
				x = 400;
				y = 1350;
				z = 2000;
				//dir = 2;
			}
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM4_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
	wheelinit();
	extern uint16_t PPM_Databuf[8];
	HAL_TIM_Base_Start(&htim2);
	int flg = 0;
	move(0);
	HAL_Delay(700);
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		if (PPM_Databuf[4] < 1000)
		{
			xx = (PPM_Databuf[3] - 1500)* 4;
			yy = (PPM_Databuf[1] - 1500)* 4;
			zz = (PPM_Databuf[0] - 1500)* 4;
			move(2000);
		}
		else if(PPM_Databuf[4] > 2000)
		{
			if (flg <= 2)
			{
				line();
				move(2000);
			}
			if (flg == 4 || flg == 6 || flg == 8)
			{
				line();
				move(1500);
			}
			else if (flg == 3)
			{
				x = 0;
				y = 0;
				z = 0;
				move(0);
				HAL_Delay(100);
				x = -1500;
				y = 0;
				z = 0;
				move(1500);
				HAL_Delay(200);
				flg += 1;
			}
			else if (flg == 5)
			{
				x = 0;
				y = 0;
				z = 0;
				move(0);
				HAL_Delay(100);
				x = 1500;
				y = 0;
				z = 0;
				move(1500);
				HAL_Delay(200);
				flg += 1;
			}
			else if (flg == 7)
			{
				HAL_Delay(45);
				x = 0;
				y = 0;
				z = 1500;
				move(1500);
				HAL_Delay(200);
				flg += 1;
			}
			else if (flg == 9)
			{
				x = 0;
				y = 1000;
				z = 0;
				move(1500);
				HAL_Delay(260);
				flg += 1;
			}
			else if (flg > 9)
			{
				x = 0;
				y = 0;
				z = 0;
				move(0);
				flg = 0;
			}
			if ((x3 == GPIO_PIN_RESET && x2 == RESET) || ( x1 == RESET  && x4 == RESET) || (x2 == GPIO_PIN_RESET && x4 == RESET))
			{
				x = 0;
				y = 1000;
				z = 0;
				move(1500);
				HAL_Delay(80);
				flg += 1;
			}
		}
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
